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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 801 | linlun | 1 | #include <inttypes.h> |
| 2 | #include <avr/interrupt.h> |
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| 3 | #include <stdio.h> |
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| 4 | #include <string.h> |
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| 5 | #include <std_can.h> |
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| 6 | #include <config.h> // All configuration parameters |
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| 7 | #include <bios.h> // BIOS interface declarations, including CAN structure and ID defines. |
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| 8 | #include <drivers/timer/timer.h> |
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| 9 | |||
| 10 | %INCLUDE |
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| 11 | |||
| 12 | int main(void) |
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| 13 | { |
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| 14 | volatile StdCan_Msg_t rxMsg; // Message storage |
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| 15 | |||
| 16 | // Enable interrupts as early as possible |
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| 17 | sei(); |
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| 18 | |||
| 19 | Timer_Init(); |
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| 20 | |||
| 21 | StdCan_Init(); |
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| 22 | |||
| 23 | Timer_SetTimeout(APP_HEARTBEAT_TIMER, STDCAN_HEARTBEAT_PERIOD, TimerTypeFreeRunning, StdCan_SendHeartbeat); |
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| 24 | |||
| 25 | %INIT |
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| 26 | |||
| 27 | while (1) { |
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| 28 | |||
| 29 | %PROCESS |
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| 30 | |||
| 31 | if (StdCan_Get(&rxMsg) == StdCan_Ret_OK) { |
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| 32 | |||
| 33 | if (StdCan_Ret_class(rxMsg) == CAN_MODULE_NMT) { |
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| 34 | |||
| 35 | if (rxMsg.Header.ModuleType == CAN_MODULE_NMT_LIST) { |
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| 36 | |||
| 37 | %LIST |
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| 38 | } |
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| 39 | } |
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| 40 | else { |
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| 41 | |||
| 42 | %MESSAGE_HANDLE |
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| 43 | } |
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| 44 | } |
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| 45 | } |
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| 46 | |||
| 47 | return 0; |
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| 48 | } |